User Manual - ElectroCraft
Contents
1. The remainder of this page is intentionally left blank ElectroCraft Inc 4 ACS100 User Manual 1 ACS100 Controller 1 1 Overview This manual describes the installation and operation of the ACS100 series of digital high voltage servo amplifiers manufactured by ElectroCraft MI Inc This document applies to serial numbers ending with xxxx0105 and beyond The ACS100 amplifier is Software Configurable operation modes Torque Velocity and Position Selectable BLAC sine wave flux vector or BLDC Six step trapezoidal commutation 4 Quadrant performance Phase output PWM controlled output Full digital control of all loops Variable servo rate from up to 16 kHz Loop tuning via serial interface No potentiometers Drive setup amp status information available serially via RS232 link 12 48 VDC input power supply range Output current of 5 0 Amp continuous 10 Amp peak Compact package size ElectroCraft CompletePower Plus graphical windows interface for Setup Configuration and Tuning For further documentation support of software and its usage refer to the ElectroCraft CompletePower Plus software user s manual Parameters and Variables ElectroCraft Inc For further documentation support of parameters variables commands and graphing refer to the ElectroCraft Parameter Guide 2 1 2 2 ACS100 User Manual ACS100 Introduction Amplifier The A2. e TLE2142CD dis aak adis V NI 16 9K e AGND Figure 7 Analog I O Interface Circuitry 31 ACS100 User Manual 13 3 3 RS232 Communications Interface 3 3VDC VD 0 1UF MAX3232 VCC DGND V E TXD 4 5 T1OUT THIN RXD 2 CTS 3 3 T2OUT T2IN RTS 4 5 DIGITAL GND 5 RIIN R1OUT E R2IN R2OUT DONI GND 0 1UF DGND Figure 8 RS232 Communications Interface Circuitry ElectroCraft Inc 32 ACS100 User Manual 13 4 J4 Encoder Interface Overview When using differential encoder feedback A A B and B user may leave Z and Z unconnected If only a single ended encoder feedback A and B is used and not the A and B then the four jumpers JU1 JU2 JU3 and JU4 which is located on the ACS100 daughter board must be shorted You may then leave Z and Z unconnected 13 4 1 J4 Encoder Interface JU2 5 0 45VDC syDC 3 2 2K iok SD i eA LL DGND N C 1 10K 9 2 J4 d 45 VDC 1 4 13 Fux 22 ENCODER A 2 3 e ENCODER A 3 4 E m ENCODER B 4 5 e e e ENCODER B 5 6 ENCODERZ 6 7 e ax T ENCODER Z 7 8 21 3B f ENCZ DIGITAL GND 8 9 DIGITAL GND 9 iy 1 N C PRESE N C GND DGND DS26LV32CD 7ALVC14AN 91 DGND 74LVC14AN JUS 74LVC14AN m 3 3VDC dL 74LVC86AD Figure 9 Encoder Interface Cir
3. BOARD ACS100 BRD P1 Ji 1 RED 1 2 RED 2 3 WHITE 3 4 WHITE 4 5 WHITE 5 6 WHITE 6 7 WHITE 1 8 WHITE 8 BLACK BLACK m 1002122 ANALOG WIRE HARNESS BOARD ACS100 BRD 2 J2 1 WHITE 1 2 WHITE 2 BLACK 1 WHITE 1 5 WHITE 5 BLACK 6 BLACK 6 7 7 1002165 POWER INPUT ASSEMBLY 1 0 BOARD P1 WHITE 1 2 BLACK 3 BLACK 1 x Figure 4 Optional Drive Setup Wiring Diagram ElectroCraft Inc 24 10 10 1 10 2 ACS100 User Manual First Time Operation Phasing the Motor ElectroCraft has determined the correct motor phasing for all ElectroCraft motors If your drive was ordered with an ElectroCraft motor specified the correct parameter set for the mating ElectroCraft motor was loaded into your drive at the factory prior to shipment Alternate ElectroCraft motor parameters can be selected from the motor selection file on the software disk supplied with your drive or you can contact ElectroCraft for these files In addition ElectroCraft has established the correct motor phasing relationships for many other popular US and foreign motor manufacturers A listing of these additional motor manufacturers may be obtained from ElectroCraft upon request Using ElectroCraft CompletePower Plus To establish the correct motor phasing for a new or unknown motor ElectroCraft has provided a Window based setu
4. esses eene 14 6 3 Installation in the Control Panel 14 6 4 0 the ACST00 Jumbpers dte iecit 14 6 5 Simplified ACS100 Block Diagram 0 2 40444 2 0 02 01001 00 6000000 0000000 15 6 6 ACS100 Connector Description eese 16 661 JiBDigitall O re ee eren ede aa 17 6 6 2 JZ Analog e eut ade s 17 6 6 3 3 5 232 iie eer RR det ire rone epe in Roanne 18 6 6 4 eire e rr entren ener eni 18 6 6 5 J5zHall Feedback te ete ree eee d 18 6 6 6 J67J7 D al GAN icones ied canes te ee etie ER RR i ped ie ertet 19 6 6 7 iss ER 19 6 6 8 P2 MoOtor Phase teed e iei eee 19 7 ACS100 Status LED s edd Shade sea A ren 20 7 1 User Ready 4o trece tore t mre d hee cuties ERE ER o Pe tek cou e 20 7 2 Briggs c E FASES 21 8 Introduction to ElectroCraft CompletePower M Plus 22 9 Recommended Minimum Hookup sese nennen enne enne nnn nnns 9 1 BIET TIMES EOS 9 2 Wiring Diagrams for Optional User Interfaces 10 First Time Operation ener enemigo ie Ivrea studs 25 10 1 Phasing the MOtOE
5. Common Return 10 Output Common Return 6 6 2 J2 Connector User Analog I O Control Molex 35362 0710 Pin 1 0 Description 1 Input AN1 Differential Input zero to 10 Volt external command signal input The polarity of this signal controls the relative applied direction of output motor torque Input is protected to 24 Volt maximum 2 Input AN1 Differential Input zero to 10 Volt external command signal input The polarity of this signal controls the relative applied direction of output motor torque Input is protected to 24 Volt maximum 3 Input Common Return 4 Input AN2 Differential Input zero to 10 Volt external command signal input The polarity of this signal controls the relative applied direction of output motor torque Input is protected to 24 Volt maximum 5 Input AN2 Differential Input zero to 10 Volt external command signal input The polarity of this signal controls the relative applied direction of output motor torque Input is protected to 24 Volt maximum 6 Input Common return 7 Input Common return ElectroCraft Inc 17 ACS100 User Manual 6 6 3 J3 Connector RS 232 Communications Molex 35362 0510 Pin I O Description 1 TX RS232 TXD Output RS232 signal level 2 RX RS 232 RXD Input RS232 signal level 3 CTS RS 232 CTS Input This input not implemented as a Clear to Send and is only
6. J5 HALL Commutation volocity and position control operate with P1 encoder and or Hall feedback PWR Internal DC to DC logic supply provides a wide input voltage operating range 12 to 48 VDC P2 MOTOR Protected 3 phase MOSFET Bridge ACS100 User Manual 6 6 ACS100 Connector Description Drive specific I O operates independent of the user selected operating mode Dive specific 1 0 signals have fixed functionality These signals are used to interface the ACS100 to an outside control system They provide signals for enabling disabling and monitoring the status of the ACS100 For visual reference to the ACS100 connectors see Figure 2 below ACS100 xxxx J1 DIGITAL 1 0 J2 ANALOG I O J3 RS 232 INTERFACE J4 MOTOR ENCODER FEEDBACK 5 MOTOR HALL FEEDBACK J3 E J6 7 CAN INTERFACE x 146 LED P1 DRIVE POWER 4 J5 J4 P2 MOTOR POWER J H zenn manns JU201 anra ce yf bmi 31 P1 LED1 USER POWER 34 0054516 LED2 READY STATUS Figure 2 ACS100 Connector Layout ElectroCraft Inc 16 ACS100 User Manual 6 6 1 1 Connector User Digital I O Control Molex 35362 1010 Pin I O Description 1 Output 5 Volts DC Power Supplied regulated 5VDC power 25
7. phase to ground phase to supply threshold Short circuit protection delay On state voltage drop Phase current 5 500 to 350 Off state leakage current Phase Voltage 48V 500 to 500 PWM frequency Programmable PWMPER J1 Digital I O Maximum Ratings Input voltage All inputs opto isolated referenced to COM Input current All inputs opto isolated referenced to Output voltage All outputs Output current All outputs J1 Digital Inputs On state voltage threshold Off state voltage threshold On state current On state pulse width Off state pulse width Referenced to com Referenced to com Off voltage OV On voltage 3V On voltage 5V Off voltage 1V T aS J2 Analog Inputs Input voltage Common Referenced to AGND 12 to 50 mode Referenced to com On state current 15 mA Sustained Off state 5 5V On state current On state voltage drop Off state voltage Off state leakage current Nominal operating Differential Common mode referenced to AGND Maximum AGND to GND ElectroCraft Inc 26 ACS100 Electrical Ratings continued Ratings at Temperatures 0 50 C unless otherwise noted Parameter J4 Encoder Inputs Input voltage Max Input voltage Max Input voltage differential J5 Halls Input voltage range Low level voltage Low level input current Input hysteresis Other Thermal resistance Frame iso
8. used for programming flash 4 RTS RS232 RTS Output This output is not currently implemented 5 GND Common return 6 6 4 J4 Connector Encoder Feedback Molex 35362 0910 Pin I O Description 1 Output 5 Volts DC Power Supplied regulated 5VDC power 250mA Total available from drive from all pins 2 Input Encoder A Signal zero to 5 Volt logic signal 3 Input Encoder A Signal zero to 5 Volt logic signal 4 Input Encoder B Signal zero to 5 Volt logic signal 5 Input Encoder B Signal zero to 5 Volt logic signal 6 Input Encoder Z Marker Signal zero to 5 Volt logic signal 7 Input Encoder Z Marker Signal zero to 5 Volt logic signal 8 Output Common return 9 Output Common return 6 6 5 Connector Hall Feedback Molex 35362 0610 Pin I O Description 1 Output 5 Volts DC Power Supplied regulated 5VDC power 250mA Total available from drive from all pins 2 Input Hall Signal Input S1 zero to 5 Volt logic signal 2 2K ohm internal pull up to 5v 3 Input Hall Signal Input S2 zero to 5 Volt logic signal 2 2K ohm internal pull up to 5v 4 Input Hall Signal Input S3 zero to 5 Volt logic signal 2 2K ohm internal pull up to 5v 5 Output Common return 6 Output Common return ElectroCraft Inc 18 ACS100 User Manual 6 6 6 J6 and J7 Connectors CAN Communications Molex 35362 0310 Pin I O Descr
9. ACS100 drive 3 0 x 3 9 1001203 Can Interface Wire 305mm Loose wires at user end to ACS100 J6 J7 ends 12 1002159 CAN Interface DB9F 356mm D sub 9 pin Plug to ACS100 J6 J7 Interface cable for PC 14 1002125 CAN Terminating n a 120 ohm resistor between ACS100 J6 J7 pins 1 Resistor and 2 0101 1002127 Shunt Board Assembly 114 3 x 64x External Shunt Board 35 56 mm 4 5 x 2 5 x 1 40 1001193 1002991 356mm Shunt board P2 to ACS100 P1 set 14 1001730 Shunt Board wi ee pis 356mm Shunt board P1 to user supply Loose wires at 1002165 harness assemblies 14 user end Note Custom lengths or applications may be ordered ElectroCraft Inc 40
10. Manual Introduction to ElectroCraft CompletePower Plus Software ElectroCraft CompletePower Plus is a Windows based program used for setup parameterization system diagnostics and motion control management ElectroCraft CompletePower M Plus will lead the user through an 8 Step Wizard to create the correct parameter configuration and information required for the user to run a particular motor with a particular drive The result will be an Application containing all of the parameter information required to run the motor with the drive This section is described within the software user manual ElectroCraft CompletePower M Plus software users manual Please refer to the user s manual for full documentation support to properly configure and operate your drive WindowsQ is a registered trademark of the Microsoft Corporation The remainder of this page is intentionally left blank ElectroCraft Inc 22 ACS100 User Manual 9 Recommended Minimum Hookup Apply DC voltage to the Quick Start 1 0 interface a 1 1 2 5VDC b J1 pin 9 10 Common return For additional information pertaining to the optional Quick Start I O Test Interface refer to document Quick Start User Guide doc x located at the ElectroCraft web site 9 1 Diagram ACS100 D a Ba mas lE GND COMMON E Cee oo 2 2 i Bo ee J1 D
11. P2 Power output to ACS100 Pini 12v to 48v drive logic supply pass through connection from P1 to P2 Pin2 O to 48v drive motor supply Blocking diode at P1 isolates all shunt board operations from power supply Pin3 Drive logic supply common pass through connection from P1 to P2 Pin4 Motor supply common pass through connection from P1 to P2 Note If the ACS100 is setup to operate from a single supply for both logic and motor only the motor supply pins 2 and 4 need to be connected The shunt turn on threshold is approximately 56V and the turn off threshold is approximately 52V A blocking diode in the shunt board prevents the excess voltage from feeding back to the power supply As the drive regenerates the shunt board will cycle on and off to dispose of the excess energy through the shunt resistor Care should be taken to ensure the shunt resistor is not mounted next to any flammable material as it could get hot ElectroCraft Inc 37 ACS100 User Manual 15 Model Identification ACS 1 00 XXXX Model Designator Power Specifications Drive Customization Code Drive Code ElectroCraft Inc 38 16 ACS100 User Manual Appendix A Optional Accessories Name Length mm Description Part No inch ACS100 200 Mating 305mm AC
12. connector J4 must be shorted These are JU1 JU2 JU3 and JUA You can then leave Z and Z unconnected If only Hall Effect is used and no encoder at all leave the encoder connector unconnected See section 6 6 4 14 Encoder Interface Circuitry for additional information ElectroCraft Inc 8 ACS100 User Manual 3 2 Storage and Transportation 1 Do not store or install the product in the following place a Locations subject to temperature outside of the range specified Locations subject to humidity outside the range specified Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron contaminants Locations subject to exposure to water oil or chemicals g Locations subject to shock or vibration Failure to observe this caution may result in fire electric shock damage to the product 2 Donothold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction 3 Store the ACS100 drive when not in use in temperatures between 20 to 85 degrees C 3 3 Installation 4 Take appropriate and sufficient countermeasures when installing systems in the following locations a Locations subject to static electricity or other forms of noise b Locations subject to strong electromagnetic fields and magnetic fields c Locations subject to p
13. is used to configure tune and monitor the ACS100 CAN interface commuication is used to configure tune and monitor the ACS100 Drive specific 1 0 operates independent of user selected servo mode Drive specific 10 sinals have fixed unctionality Application specific firmware extensions may be available from ElectroCraft that extend the functionality of this 1 0 J3 RS232 J6 J7 CAN J1 4 4 Digital 1 0 J2 Analog 10 4 STATUS LED YELLOW P d POWER LED GREEN FROM DC POWER SUPPLY SERIAL EEROM RS232 4 32K EXT RAM CAN Y POR RESET DSP CIRCUIT 4 COMM ENABLE RESET FLASH STEP STEP CMD PWM ALU 10 RUN STOP INT RAM READY DC DC POWER ENABLED HALL ENCODER INTERFACE SUPPLY OR st Bi ANALOG TO DIGITAL MODULATOR CONVERTERS r FAULT PWM SIGNALS THREE COMMAND DIE MOSFET AUX BRIDGE r 700 MOTOR TEMP Torque control is achieved using current feedback ElectroCraft Inc Figure 1 ACS100 Block Diagram 15 Serial EEPROM provides non volital storage of user parameters External RAM is used for data logging graphing Internal ROM is configured with a run time library of ACS100 software components Components are linked together as determined by the J4 user operating mode ENC
14. on steady meaning that power has been applied The Yellow LED should be flashing meaning that the drive is enabled When the drive is placed into run mode the flashing Yellow LED will come on steady 7 1 User Ready Status LED Yellow FLASH DESCRIPTION POSSIBLE CAUSE RESULT RECOVERY METHOD CODE ACS100 is in RUN User commanded RUN mode Clear all faults Not applicable ON mode via user interface and STATUS flags Steady Enable three phase PWM Processor is Drive is in reset ACS100 will stay Disconnect power from the OFF inoperable Processor fault in a DISABLED ACS100 for 1 min to reset Improper user supplied mode the microprocessor Then 5Volts re apply power to allow Drive is being reprogrammed microprocessors to operate Drive is in Standby The user commanded The drive is Command run mode mode standby mode from the user placed in standby Toggle the run line see Note 1 interface mode 1 A drive error placed the drive in standby mode 2 Reserved Over Current Fault Current is over the The drive is Toggle the run line see Note 3 designated drive current for placed in standby 1 more than 0 5mS mode Rail or Power Internal logic power supplies The drive is Toggle the run line see Note 4 Supply fault out of spec placed in standby 1 15V and 5V mode Rail voltage gt 60V 5 Reserved EEPROM Fault The user EEPROM has a The drive is Check the error using the or checksum error plac
15. 0mA Total available from drive from all pins 2 Output 5 Volts DC Power Supplied regulated 5VDC power 250mA Total available from drive from all pins 3 Input Enable Reset Control Signal Input TTL compatible 5 5 VDC maximum signal amplitude O Volts minimum 10K ohm internal pull down Positive true logic Forces a master hardware reset for entire drive on a falling edge Drive recovers beginning after rising edge Drive remains disabled while logic O is applied to this input 4 Input Run Command Signal Input TTL compatible 5 5 VDC maximum signal amplitude O Volts minimum 10K ohm internal pull down Positive true logic A logic 1 state will allow motor commutation once some level of current is commanded A logic 0 state places motor into a coast state 5 Input Step Input O to 5 VDC logic signal TTL compatible 10K ohm internal pull down Used in step and direction mode Used with direction input 6 Input Direction Input Zero to 5 Volt logic signal TTL compatible 5 5 VDC maximum signal amplitude O Volts minimum 10K Ohm internal pull down Selects relative direction of Step command High is positive direction 7 Output Enabled Output 0 to 5 VDC logic signal Logic O when drive is in Reset Logic 1 when drive is enabled and initialized 8 Output Ready Output 0 to 5 VDC logic signal Logic O when drive is in Standby or Reset Logic 1 when drive is in Run mode and ready to deliver current 9 Output
16. ATTEMPTING TO USE THIS PRODUCT If you require further assistance then provided within this manual please email call or fax ElectroCraft MI Incorporated P O Box 7746 Ann Arbor MI USA 48107 734 662 7771 Fax 734 662 3707 www electrocraft com This chapter presents installation procedures and instructions on how to setup your ACS100 drive The remainder of this page is intentionally left blank ElectroCraft Inc 13 6 1 6 2 6 3 6 4 ACS100 User Manual Mounting the ACS100 Use this preferred hardware type see table below for mounting your ACS100 drive Mount your ACS100 in the following manner Base Mounted Two M3 No 6 pan head screws Include spring locking washer with plain washer Weight 182g 0 40lb Size 3 0 76 2mm x 4 5 114 3mm x 0 942 23 93mm Environmental Conditions in the Control Panel Storage Temperature 20 85 degree C e Humidity 5 9596RH Non condensing Operating Temperature range 0 50 degree C e Vibration Install a vibration isolator beneath the drive to avoid subjecting it to vibration Installation in the Control Panel Base Mount When installing the ACS100 provide at least 10 mm 0 39 in between units or control panel and at least 50 mm 1 97 in above and below each drive Install cooling fans above or below the drive to maintain a constant temperature inside the control panel and to prevent an excess temperature rise around the drive Use of th
17. CS100 is a fully digital servo amplifier that uses DSP technology to provide a powerful feature set that is fully configurable by means of a RS232 serial port The ACS100 servo drive is configurable as a Torque Velocity or Position mode servo amplifier The ACS100 is designed to operate a single 3 phase Brushed or Brushless DC or AC permanent magnet motor The motor may have either a WYE or Delta wound stator The ACS100 provides commutation using Hall sensors or encoder feedback The ACS100 Torque Velocity or Position modes accept 10 volt DC analog or digital PWM Theory of Operation The ACS100 operates as a mode configurable digital servo amplifier This product is typically applied as a component within an end use industrial application Within industry application requirements for servo amplifiers vary widely For example one application may require an amplifier with an analog input reference for speed Another application may require an amplifier that offers torque control and Hall sensor commutation only For this reason the ACS100 offers a choice of many different servo operating modes This flexibility is made possible because all of the control functions within the ACS100 are implemented in software The ACS100 physical I O and closed loop functionality selected using the ElectroCraft CompletePower M Plus software setup utility See Section 7 Introduction to the ElectroCraft CompletePower Plus software and the ElectroCr
18. EN THIS PRODUCT USES THE OPTIONAL SHUNT ASSEMBLY PRECAUTIONS MUST BE FOLLOWED TO PREVENT A POSSIBLE FIRE HAZARD Never mount the external shunt where it can make contact with flammable materials flammable liquid and or flammable chemicals Never use the ACS100 either with or without a shunt resistor of any type in an explosive atmosphere Never place the shunt resistor in the proximity of flammable materials that could melt or drop upon the shunt resistor body or the ACS100 drive THIS PRODUCT USES ELECTRIC POWER AND POSES A SHOCK HAZARD TO THE USER Shunt resistors function using high voltage electric power Avoid physical contact with them whenever the ACS100 has power applied Shunt resistor s can also become extremely hot Follow the precaution statements and in conjunction with the manufactures precautions to help prevent a fire hazard The electrical terminals of shunt resistors are also a shock hazard High voltage electricity may be present on these terminals whenever the ACS100 has power applied In most applications when heavy dynamic braking and or regenerative braking are involved the ACS100 will require an external shunt resistor To connect such a resistor requires the use of the optional ACS100 Shunt board See Figure 13 above ElectroCraft Inc 36 14 2 ACS100 User Manual The minimum permissible combined resistance value for the shunt resistor s is 4 Ohms Higher resistance values may be used The resistor s shoul
19. ElectroCraft powering innovation MODEL ACS100 XXXX User s Manual Digital Velocity Torque Position Mode Servo Drive This manual covers the use and maintenance of the model ACS100 series Torque Velocity and Position mode brushless motor control product family ElectroCraft Incorporated Title Type of Documentation Document Type code Internal File Reference Purpose of Documentation Record of Revisions RELEASE NUMBER 1 0 Copyright Validity Published by ElectroCraft Inc ACS100 User Manual ACS100 User Manual Installation and Operation User Hardware Manual ACS100UM Rev 1 0 09 22 09 doc Document Number A11013 This documentation describes e Installation and operation of the ACS100 family drive DATE DESCRIPTION COMMENTS 09 22 2009 ElectroCraft Mi Initial Release 2009 ElectroCraft MI Inc USA All rights Reserved Copying this document giving it to others and the use or communication of the contents there of without express authority is forbidden Offenders are liable for the payment of damages We reserve the right to modify our products at any time Information specifications and material data that appear within this user manual are subject to change without notice For the latest revision of this manual please check our web site or contact ElectroCraft The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressl
20. IGITAL 1 0 8 dung BOE ep De 5 4 8 Oe 18 lt USERDIGITALIIO lt 15 27 m 4 P N 1002122 8 BO 2 458 142 J2 ANALOG 10 7S m 9 45 VDC IN B ka TT E v Eg 8 dou BENZ 13 cen 20 29 I g USER ANALOG 1 0 J7 CAN PIN 1002125 5 PIN 1002121 5 1800 D LI mma 46 CAN PIN 1002125 5 285 45 J4 E pe 12 P1 Pe OPTIONAL QUICK 4 C 3 41518 START 1 0 BOARD P N 1001436 P1 POWER IN PIN 1002165 Figure 3 Optional Drive Setup ElectroCraft Inc 23 ACS100 User Manual 9 2 Wiring Diagrams for Optional User Interfaces For mating connectors see section 11 002125 20000000 ACS100 200 CAN INTERFACE CABLE DB 9 MOLEX CONNECTOR CONNECTOR RECEPTABLE 16 07 1 1 CANH CAN LO 2 2 CAN LO DIGITAL GND 3 3 DIGITAL GND ACS100 BOARD 6 NIC o CANHI 7 8 NIC 9 1002121 ACS100 200 RS 232 INTERFACE CABLE DB 9 MOLEX CONNECTOR CONNECTOR J3 1 NC 1 2 2 RXD RXD 3 3 CTS 4 NIC 4 RTS GND 5 5 GND NIC ACS100 BOARD RTS 8 9 NIC 1002123 DIGITAL 1 0 WIRE HARNESS
21. S100 200 7 cable assembly to wire ends connectors and cable Kit 12 Loose wires at user end z 1002115 Quick Start 1 0 Test 108 x 65 x Test Board 2 gos Board 36mm 4 25 x 2 5 x 7 9 p 1 4 1001436 WxHxD Quick Start to 305mm Quick Start Test Board P1 to ACS100 J1 ACS100 200 Digital 1 0 12 Cable 1002119 Quick Start to 305mm Quick Start Test Board P2 to ACS100 J2 ACS100 200 Analog 1 12 Cable RS232 Interface Cable 356mm D sub 9 pin plug to ACS100 J3 Interface cable for PC 14 1002121 Motor Interface Test 96 x 65 x Test Board used to easily wire motor to the 1 E WEAR 3 1001732 set 0 83 000000000 WxHxD Hall Cable 305mm Interface board J3 to ACS100 J5 12 1002112 Encoder Cable 305mm Interface board J2 to ACS100 J4 12 1002113 Motor Phase Cable 356mm Interface board J1 to ACS100 P2 14 1002118 Power Input Cable 356mm Interface board J1 to ACS100 P2 14 1002165 ElectroCraft Inc 39 ACS100 User Manual Name Length inch Description Part No mm ACS to R D or Dual 356mm D sub 15 pin to ACS100 14 Used with R D or Encoder Interface Cable 14 Dual Encoder option boards 1002129 ACS Connector Board 76 20 x Adapter Board with spring terminals to easily 99 06mm wire perifual devices to the
22. TE SHIELD TO COMMON GROUND ACS100 User Manual Recommended Cabling and Installation 5 SEPARATELY FROM ANALOG GROUND TERMINATE SHIELD AT THIS END ONLY ACS100 xxxx SHIELD CAN HI USER INTERFACE CAN LO GND 0915 e TERMINATE SHIELD TO COMMON GROUND AS SHOWN SHIELD DO NOT CONNECT SHIELD TO FRAME J3 i DO NOT CONNECT SHIELD AT MOTOR END a TXD RXD USER INTERFACE 1 CTS eoe 5 DIGITAL GND OPTIONAL ENCODER 5VDC J1 J4 4 HALLS d 5VDC OUT 45VDC ENC 1 2 5VDC OUT ENCODER 5 4 ENABLE RESET ENCODER A 3 5 RUN STOP ENCODER B 4 i STEP ENCODER B 3 e DIRECTION ENCODER Z B SHIELD ENABLED ENCODER 12 i 4 READY DIGITAL GND COMMON GND 5 1 DIGITAL GND DIGITAL GND SHIELD SHIELD J2 AN1 AN1 1 J5 3 4 ANALOG GND 1001436 TERMINATE SHIELD TO ANALOG GROUND SEPARATELY FROM COMMON GROUND TERMINATE SHIELD AT THIS END ONLY USER SUPPLY POWER CABLE SHIELD TO PIN 6 FRAME KEEP FRAME GROUND WIRES AS SHORT AS POSSIBLE MOTOR CABLE SHIELD TERMINATE SHIELDS FOR MOTOR AND POWER CABLE TO FRAME GROUND TERMINATE SHIELD AT THIS END ONLY SHIELD 12 ElectroCraft Inc 6 ACS100 User Manual ACS100 Installation and Setup READ ENTIRE USER MANUAL FIRST BEFORE
23. aft CompletePower Plus software User Manual for additional information on using this software The internal firmware architecture of the ACS100 is modular ACS100 software is built as a series of components or modules that are linked together to form an ACS100 servo operating mode ACS100 software components are stored in flash memory These components exist as Reference input modules Feedback modules PI D control modules commutation modules and firmware extension modules An internal digital signal processor is used to read 1 0 signals motor feedback signals and to process serial communication messages Flash memory inside the ACS100 is used to store a library of modular software components RAM memory is used for data logging and graphical tuning of the ACS100 The serial EEPROM provides nonvolatile memory for retention of user configured parameters and operating mode ElectroCraft Inc 6 3 1 ACS100 User Manual Product Safety Precautions READ THIS ENTIRE SECTION BEFORE ATTEMPTING TO USE THE ACS100 SERVO DRIVE GIVE SPECIAL ATTENTION TO ALL BOLD PRINT ITEMS WARNING To operate your control successfully these minimum safety precautions MUST be followed to insure proper performance without injury to the operator and damage to motor or control FAILURE TO OBSERVE THESE SAFETY PRECAUTIONS COULD RESULT IN SERIOUS BODILY INJURY INCLUDING DEATH IN EXTREME CASES Operation 1 10 Do not touch any of the output connect
24. be mter Fe tee 25 10 2 Using ElectroCraft CompletePower Plus 25 10 3 ACS100 Electrical Ratings nienean reaa eaen nennen 26 11 ACS100 Dimensional Drawing 28 12 List of Mating Connectors 0 0 ccc cccceessessescsecsessescssescsecsecaessssessessecsecseseesescssesesecaeceesessesaeaeeess 29 ElectroCraft Inc 3 ACS100 User Manual 13 ACS100 Interface Circ itry tor eo ene rrt c rege es et 30 13 1 JT Digital VO ri Rer d eet Ne ete eet de etaed 30 13 2 J2 Analog l O EA mac Ba IER ER 31 13 3 J3 RS 232 Iriterface e Rr ae ee e e e egre e EE 32 13 4 14 Encoder Interface Overview sssesssssesseeeeeen eene eth tnn tenth thats tatnen 33 13 41 JAiEncoderlnterface rtr e ri eR ERAN 33 13 5 J5 Hall Interface Overview 33 13 51 15 Hall Interface eter eee eR TER 33 13 6 16 17 CAN Interface eee tenni ee cette etes 34 13 7 Motor Temperature Overview essere enne 35 13 7 1 Motor Temperature 2 35 14 External Shunt 14 1 Use amp Selection 14 2 Connecting shunt board 15 Model Identification 16
25. cuitry 13 5 J5 Hall Interface Overview When only Hall based feedback is used and no encoder leave the encoder connector open 13 5 1 J5 Hall Interface 5VDC 5VDC 2 2K N C m J5 74LVC14AN UMS ar T HALL S2 5 3 e ay e X HALL2 DIGITAL GND 415 AA 74LVC14AN DIGITAL GND 8 8 4 X HALL3 5 b 74LVC14AN DGND 0 001UF J4 0 001UF 0 001UF DGND Figure 10 Hall Interface Circuitry ElectroCraft Inc 33 ACS100 User Manual 13 6 J6 and J7 CAN Interface CAN LO 2 DIGITAL GND 3h 1 onm OPTIONAL 47 65HVD230DR CAN HI 1 2 CAN LO 2 3 DIGITAL GND 3 DON DGND Figure 11 CAN Interface Circuitry The remainder of this page is intentionally left blank ElectroCraft Inc 34 ACS100 User Manual 13 7 Motor Temperature Overview The ElectroCraft CompletePower Plus software allows the user to select a PTC or NTC temperature switch 13 7 1 Motor Temperature Input Circuit 4 99K AAA To SENSOR To MOTOR SENSOR 1 0K 472727 TO INTERNAL A D e LL LL 2 5 5 52 T ASTS Figure 12 Motor Temperature Input Circuitry ElectroCraft Inc 35 ACS100 User Manual 14 External Shunt Figure 13 Optional Shunt Assembly 14 1 Use and Selection of the Optional Shunt Assembly CAUTION WH
26. d be rated for high momentary overloads The External Shunt Board is supplied with a 40 watt 50 ohm shunt resistor When the ACS100 shunt board is used it is wired between the P1 DC Input connector and the DC power source Please refer to section 6 6 7 for connector wiring The optional ACS100 shunt board operates in conjunction with a transistor switch that places the resistor s across the DC power rail Should the transistor ever fail in the ON condition the resistor would remain powered continuously This could result in the shunt resistor becoming very hot The selected wattage rating for the shunt resistor is application dependent Usually a heavy duty wire wound resistor will work best However not all wire wound resistors are suitable for shunt service ElectroCraft has found the Ohmite type 250 series works reliably in many shunt applications If the user is supplying their own shunt resistor contact ElectroCraft for further application advice Ask for Field Application Bulletin 101 0195 Connecting the Optional Shunt Board The shunt board is designed to plug directly between the ACS100 and the users power supply To install plug a cable Part No 1001734 from the power supply directly into P1 on the shunt board Then plug cable Part No 1001730 from P2 of the optional shunt board to P1 of the ACS100 Both P1 and P2 connectors of the optional shunt board have the same pin out Shunt Board P1 Power input from Power Supply
27. e ACS100 Jumpers JU201 and JU202 Jumpers JU201 and 10202 are located next to the power input connector P1 See Figure 2 JU201 Install JU201 when powering the ACS100 motor and logic inputs with the same supply Note When JU201 is installed it is recommended that JU202 is NOT installed JU202 Install JU202 when the voltage supplied to the logic power input P1 pin 1 is between 12Vdc and 24Vdc Remove JU202 when the voltage supplied to the logic power input is greater than 24Vdc The standard configuration is that JU202 is NOT installed left open When installed JU202 bypasses some circuitry that protects the internal logic power supplies from voltages above 48V ElectroCraft Inc 14 ACS100 User Manual 6 5 Simplified ACS100 Internal Block Diagram This following diagram is provided to familiarize the user with the internal architecture of the ACS100 An internal digital signal processor DSP is used to read 1 0 signals motor feedback signals and to process serial communication messages ROM memory inside the ACS100 is used to store a library of modular software components RAM memory is used for data logging and graphical tuning of the ACS100 The serial EEPROM provides nonvolatile memory for retention of user configured parameters and operating mode EEPROM memory is also used to extend the program functionality of the ACS100 Status LEDs indicate operational state of the ACS100 RS232 serial commuication
28. ed in standby CF command in the Check sum fault or mode hard fault terminal page If the error is DSP program memory error MEMORY EEPROM issue the command CR23130 If 6 the error is MEMORY DSP FLASH reprogram the DSP gt Warning Either operation will reset all drive parameters to default state Reload parameter file after these operations Miscellaneous To determine cause use the The drive is placed Toggle the run line see Faults RS232 connection and CF in standby mode Note 1 7 command in terminal window see Note 2 Note 1 To toggle the run command set the Run Stop signal to a logic 0 state for 100mS then back to logic 1 Note 2 If a drive fault does occur and a flash code appears on the Status LED more details regarding the cause of the fault can be obtained using the CF Check Faults command through the drive s RS232 communications ElectroCraft Inc 20 7 2 User Power LED Green ACS100 User Manual LED Description Possible Cause Result Recovery Method ON 5 VDC Power Onifuser power Required to Indicator is on Run OFF 5 VDC Power e No logic power Drive willnot e Apply 12 48VDC Indicator Run DIM 5 VDC Power e Logic voltage Drive may Apply 12VDC Indicator input to low not run minimum properly The remainder of this page is intentionally left blank ElectroCraft Inc 21 ACS100 User
29. express written approval from ElectroCraft MI Incorporated Life support devices or systems are devices or systems which are intended for surgical implant into the body or support or sustain life and whose failure to perform when properly used in accordance with instructions for use provided in the User s Manual and in the labeling can be reasonable expected to result in a significant injury to the user A critical component is any component of a life support device or system whose failure to perform can be reasonably expected to cause the failure of the life support device or system or to affect its safety or effectiveness ElectroCraft Inc 10 ACS100 User Manual Checking Product on Delivery When your package arrives inspect the shipping box and the unit carefully and save ALL packing materials Compare the packing slip against all items included in the shipping box Any shortages or other inspection problems should be reported to ElectroCraft immediately The following procedure is used to check products upon delivery Check the following items when your ACS100 is delivered e Verify that the model number marked on the nameplate of the drive s is the correct unit ordered e Check the overall appearance Check for damage or scratches that may have occurred during shipping If any damage or if the unit is the wrong type contact your ElectroCraft sales representative immediately Your ACS100 has arrived carefully packaged fr
30. g may prevent drive from operation 2 The ground P1 pin 3 or 4 MUST always be connected to an appropriate external earth ground 3 Connect the ground terminal to the electrical codes ground resistance should be less than 100 ohms Improper grounding may result in electric shock or fire 4 Do connect a three phases or any supply power to the U V and W terminals Failure to Observe this caution may result in injury or fire 5 Securely connect the power supply terminals and motor output terminals Failure to observe this caution may result in fire 6 Donot bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30cm 7 Usetwisted pair shielded wires or multi core twisted pair shielded wires for signal and encoder feedback lines 8 Always use the specified power supply voltage An incorrect voltage may result in burning Be particularly careful where the power supply is unstable An incorrect power supply may result in damage to the product 9 Install external breakers or other safety devices against short circuiting in external wiring Failure to Observe this caution may result in fire or damage to the control Life Support Policy READ THIS ENTIRE SECTION BEFORE ATTEMPTING TO USE THE ACE SERVO DRIVE GIVE SPECIAL ATTENTION TO ALL BOLD PRINT ITEMS ElectroCraft s products are not authorized for use as critical components in life support devices or systems without the
31. iption 1 CAN HI CAN Bus Communication 2 CAN LO CAN Bus Communication 3 Common Return 6 6 7 P1 Connector DC Input Molex Mini Fit Jr 44472 0452 Pin I O Description 1 Input DC Input 12 to 48 VDC Logic power 2 Input DC Input 0 to 48 VDC Motor power 3 Input DC Common Return 4 Input DC Common Return Note Pin 3 is internally shorted to P4 6 6 8 P2 Connector Motor Output Molex Mini Fit Jr 44472 0652 Pin I O Description 1 Output Motor Phase U peak voltage out of this terminal is dependent upon the incoming voltage on connector P1 pin 2 Peak amperage is model dependent 2 Output Motor Phase V peak voltage out of this terminal is dependent upon the incoming voltage on connector P1 pin 2 Peak amperage is model dependent 3 Output Motor Phase W peak voltage out of this terminal is dependent upon the incoming voltage on connector P1 pin 2 Peak amperage is model dependent 4 Input Temp 4 99K ohm internal pull up to 5v 5 Input Temp motor temperature input PTC NTC or switch 6 Input Frame Ground Note Reference section 13 7 1 Motor Temp Circuit Description and Fig 12 for more information ElectroCraft Inc 19 ACS100 User Manual 7 ACS100 Status LED s In normal operation the ACS100 is either in a Ready state or in an Error state When power is first applied the green LED will come
32. lation voltage withstand Operating temperature Storage temperature Humidity Weight Conditions Common mode referenced to GND Differential peak A to A BtoB ZtoZ RS422 receiver A to A B to B Z to Z operating Transient peak Operating Internal 1 K pull up to 5V Base plate to ambient GND to Frame powered Not powered Non condensing ACS100 User Manual pec Eam Dres seil 0 40 182 Lb g The remainder of this page is intentionally left blank ElectroCraft Inc 27 ACS100 User Manual 11 5100 Dimensional Drawing Units in mm 9 4 975 50 1 25 ET s E 2 281 L gt 2 B 1 g 1 m B 1 B 1 e EEE e HHH zt EEE j EEE Fees 10 200 5 08 1 11213 38451811 1 025 26 04 0 942 23 93 a 3 000 76 2 r 2 129 54 08 Optional Heatsink Note For Optional heatsink and or cover please contact the Sales department Figure 5 ACS100 Package Outline ElectroCraft Inc 28 12 List of Mating Connectors ACS100 User Manual Ref Connector Manufacturer P N P N Name Crimp Pin User Digital I O 10 Pin Molex Sherlock 35507 1000 50212 8100 Control J2 User Analog I O 7 Pin Mo
33. lex Sherlock 35507 0700 50212 8100 Control J3 RS232 5 Pin Molex Sherlock 35507 0500 50212 8100 Communications J4 Encoder Interface 9 Pin Molex Sherlock 35507 0900 50212 8100 J5 Hall Interface 6 Pin Molex Sherlock 35507 0600 50212 8100 16 amp J7 CAN Communications 3 Pin Molex Sherlock 35507 0300 50212 8100 P1 DC Input 4 Pin Molex Mini Fit Jr 3901 3042 5556 or 44476 HC P2 Motor Output 6 Pin Molex Sherlock 3901 2060 5556 or 44476 HC The remainder of this page is intentionally left blank ElectroCraft Inc 29 ACS100 User Manual 13 ACS100 Interface Circuitry 13 1 J1 Digital I O 741 14 5VDC ENABLE e iN 3 e J1 Svp our 10K DGND ENABLE RESET 3 74LVC14AN RUN STOP 4 5 4 RUN STOP DIRECTION 8 e 74LVC14AN MAPS 1 DIGITAL GND 9 9 741 14 DIGITAL GND 10 9 4 GENE E WY 74AHCT14AN DGND 2 7AAHCT14AN Figure 6 Digital I O Interface Circuitry ElectroCraft Inc 30 13 2 J2 Analog 1 0 J2 1 1 AN1 2 3 AGND 3 AN2 4 5 2 5 6 AGND 67 AGND 7 NW AGND ElectroCraft Inc ACS100 User Manual 5VDC 6 8K 6 8K 27pF e 8 45K 2 10K BAV7O 6 8 6 8 ib Re e e e ee 2 TLE2142CD 3 3VDC BAW56 T E 16 9K 16 9 e AGND 4 5VDC cupi T 6 8K 6 8K TEE N e e e 210K S 8 45K s BAV70 6 8K 6 8K TIT 2 5 V
34. likely cause permanent damage to the ACS100 Never touch any moving parts while the motor is running Failure to observe this warning may result in injury Excessive speed and current can destroy some motors and possibly injure the user Check the motor manufacturer s specifications to ensure that the maximum current and voltage for your control model does not exceed their limitations ElectroCraft Inc 7 11 12 13 14 15 16 17 18 19 ACS100 User Manual External methods are advisable to limit both the top speed and travel motion of the motor and its load Whenever the ACS100 drive is disabled for any reason the motor is placed into a free spinning coast mode When using the servomotor for a vertical axis install safety devices to prevent work pieces from moving due to occurrences of over travel Failure to do this may cause injury to work pieces or person Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensuring safely Failure to observe this warning may result in injury Do not parallel multiple motors off the same control Do not make any extreme adjustments or settings changes of parameters Failure to observe this caution may result in injury due to instable operation Do not turn the control on or off frequently unless necessary Failure to observe this caution may cause internal parts to dete
35. om ElectroCraft MI in an antistatic bag As you unseal this bag inspect the contents carefully There should not be any loose or damaged parts inside Never attempt to operate or power up the drive if there is any visible external damage or if it sounds as though there are loose materials inside the chassis While unpacking if you discover any loose or damaged parts notify ElectroCraft within two working days ElectroCraft recommends that all packing materials be saved in the event that the ACS100 needs to be shipped back Always place the ACS100 in the same antistatic bag used in the original shipment Abundant anti static filler material should always be placed around the ACS100 so that it cannot shift inside the box Extreme care should be exercised when placing packing material around all external connectors to prevent mechanical stress damage All material to be returned to ElectroCraft must have a Return Material Authorization RMA tracking number assigned before shipment This may be obtained by contacting the ElectroCraft Service Dept Any product returned without this number will be rejected by ElectroCraft Always insure your shipment for the proper replacement value of its contents ElectroCraft will not assume responsibility for any returned goods that have been damaged outside of our factory because of improper packaging or handling All goods shipped to ElectroCraft must be shipped FREIGHT PREPAID ElectroCraft Inc 11 TERMINA
36. or pins from connectors P1 DC Input or P2 Motor Output when power has been applied The voltages at these connector pins are dangerous and can produce an electric shock Bare wires from adjacent connector pins must never be allowed to touch one another P1 pin 4 must be connected to an external earth ground Follow wiring procedures carefully Know and understand which connectors are NOT electrically isolated from the DC voltages within the drive Read ElectroCraft s Life Support Policy in section 3 5 for application limitations Follow precautionary guidelines in this manual with regard to proper installation of an external shunt resistor See Section 13 of this manual Do not operate the control in an explosive area or near explosive or flammable materials Do not use the control in environments where it is likely to be exposed to strong and or frequent static discharge Conduct trial operations on the servo drive alone with the motor shaft disconnected from the machine to avoid any unexpected accidents Motor shaft should be uncoupled and free to rotate without coming in contact with user or any stationary object during set up and preliminary operation Under no circumstances should a phase output from the control be connected to anything other than a passive inductive resistive motor load Short circuit protection for the drive is limited to momentary conditions only Repetitive short circuits on any of the output pins for P2 will
37. ossible exposure to radioactivity d Locations close to power supplies including power lines Failure to observe this caution may result in damage to the product 5 Keep any external shunt resistor away from flammable materials Read Section 13 carefully for more shunt installation details 6 Never use this product in an environment subject to liquids corrosive chemicals or gases or combustibles or where foreign materials are allowed to fall onto or collect inside the drive Failure to observe this caution may result in electric shock or fire 7 Do not place heavy objects on the product Failure to observe this warning may result in stopping operation of the product 8 Do not cover or prevent air from escaping or entering through the vents with obstruction or foreign object Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire 9 Provide the specified clearance between the drive and the control panel or with other devices Provide sufficient space around the drive for cooling by natural convection or provide cooling fans to prevent excessive heat see section 6 3 for details Failure to observe this caution may result in fire or malfunction ElectroCraft Inc 9 3 4 3 5 ACS100 User Manual Wiring 1 Verify ALL wiring BEFORE applying power to the control and motor Motor may RUN AWAY or oscillate uncontrollably if improperly wired Drive may be damage or improper wirin
38. p utility Please refer to the ElectroCraft CompletePower M Plus software user manual to setup your drive and analyze the performance of the drive as well as the motor Getting Started To make use of this feature proceed as follows 1 Install ElectroCraft CompletePower M Plus software onto user PC 2 Connectall phase and hall wires to the drive 3 Place drive into standby 4 Connect power and establish communications 5 Loada starting parameter set Use default supplied in drive user saved parameter set or contact ElectroCraft for assistance 6 The motor should now be properly phased for the ACS100 You can now proceed with drive loop tuning ElectroCraft Inc 25 10 3 ACS100 User Manual ACS100 Electrical Ratings Ratings at Temperatures 0 50 C unless otherwise noted Conditions Supply Supply voltage Transient peak Supply voltage Nominal operating Supply current surge Inrush pulse duration 100mS Supply current idle No load condition Supply current operating Over voltage protection Internal peak supply limited Reversed polarity withstand Continuous supply current externally limited to 5VDC Supply regulation Encoder Inputs Hall Inputs and Digital 1 0 5VDC Supply current Encoder Inputs Hall Inputs and Digital 1 250 mA available for external use P2 Motor Outputs Output current continuous No additional heatsink 5 0 to 5 0 Output current peak 10 to 10 Short circuit withstand Phase to phase
39. riorate Avoid frequently plugging connector P1 into the control while live power is applied to the connecting cables Ignoring this precaution will cause electrical arcing at the connector pins which can cause permanent connector damage ElectroCraft recommends using a disconnect switch ahead of P1 if the ACS100 must be disconnected often Do not remove the connectors on ports P1 P2 J1 through J6 from the control while the motor is operating Do not service or modify this product Only authorized personnel must perform disassembly or repair of the drive Failure to observe warning may result in injury or damage to product 3 1 1 Use of ACS100 Jumpers ACS100 Jumpers JU201 and JU202 DC Operating Voltage 1 The ACS100 has two jumpers that must be set according to the desired input DC operating voltage range Failure to set these jumpers correctly can result in permanent damage to the ACS100 Please see section 3 3 Use of ACS100 Jumpers JU201 and JU202 and select the proper jumper setting for your application before applying power to the ACS100 ACS100 Jumpers JU1 JU2 JU3 JU4 Use of Encoder Feedback 1 The ACS100 has jumpers that must be set according to the type of feedback device used When a differential encoder feedback is used A A B and B you can leave Z and Z unconnected If a single ended encoder feedback A and B and not the A and B is used all four jumpers on the daughter card right next to the encoder
40. y confirmed in the contract All rights are reserved with respect to the content of this documentation and the availability of the product ElectroCraft MI Incorporated P O Box 7746 Ann Arbor Michigan 48108 USA Tel 734 662 7771 Fax 734 662 3707 http www electrocraft com ACS100 User Manual Table of Contents 1 ACS100 Controller 5 o Intent ph e p pee aed eit 5 1 1 Overview Software Parameters amp Variables 2 ACS100 Introduction 2 2 3 6 2 1 ec beet d eee e 6 2 2 Theory of Operation dee te ie ot th 6 3 Product Safety Precautions tas tenet annia tanen 7 3 1 Op ratlOl peti te re E RT eins 7 3 LI UseofACS100 Jl mpers 5 eret deti ete t Re eres 8 3 2 Storage and Transportation essen nenne neret nnne 9 3 3 T 9 3 4 3 5 Life Support Policy Checking Product on Delivery esses nnn nennen nnne 11 5 Recommended Cabling and Installation 00000 4 1 nennen 12 6 ACS100 Installation and Setup s ssssesesesseseeeeeen eene tentent 13 6 1 Mounting the 5100 nce tte ete eet 14 6 2 Environmental Conditions
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